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NASA NTRS1981

Robustness results in linear-quadratic Gaussian based multivariable control designs

The robustness of control systems with respect to model uncertainty is considered using simple frequency domain criteria. Available and new results are derived under a common framework in which the minimum singular value of the return difference transfer matrix is the key quantity. In particular, robustness results associated with multivariable control systems designed on the basis of linear-quadratic (LQ) and the linear-quadratic Gaussian (LQG) design methodologies are presented.

Lehtomaki, N. A.↗

NASA NTRS1982

Conic Sector Analysis of Hybrid Control Systems

A hybrid control system contains an analog plant and a hybrid (or sampled-data) compensator. In this thesis a new conic sector is determined which is constructive and can be used to: (1) determine closed loop stability, (2) analyze robustness with respect to modelling uncertainties, (3) analyze steady state response to commands, and (4) select the sample rate. The use of conic sectors allows the designer to treat hybrid control systems as though they were analog control systems. The center of the conic sector can be used as a rigorous linear time invariant approximation of the hybrid control system, and the radius places a bound on the errors of this approximation. The hybrid feedback system can be multivariable, and the sampler is assumed to be synchronous. Algorithms to compute the conic sector are presented. Several examples demonstrate how the conic sector analysis techniques are applied. Extensions to single loop multirate hybrid feedback systems are presented. Further extensions are proposed for multiloop multirate hybrid feedback system and for single rate systems with asynchronous sampling.

Thompson, P. M.↗

NASA NTRS1983

Distributed control of large space antennas

A systematic way to choose control design parameters and to evaluate performance for large space antennas is presented. The structural dynamics and control properties for a Hoop and Column Antenna and a Wrap-Rib Antenna are characterized. Some results of the effects of model parameter uncertainties to the stability, surface accuracy, and pointing errors are presented. Critical dynamics and control problems for these antenna configurations are identified and potential solutions are discussed. It was concluded that structural uncertainties and model error can cause serious performance deterioration and can even destabilize the controllers. For the hoop and column antenna, large hoop and long meat and the lack of stiffness between the two substructures result in low structural frequencies. Performance can be improved if this design can be strengthened. The two-site control system is more robust than either single-site control systems for the hoop and column antenna.

Cameron, J. M.↗

NASA NTRS1984

Redundancy relations and robust failure detection

All failure detection methods are based on the use of redundancy, that is on (possible dynamic) relations among the measured variables. Consequently the robustness of the failure detection process depends to a great degree on the reliability of the redundancy relations given the inevitable presence of model uncertainties. The problem of determining redundancy relations which are optimally robust in a sense which includes the major issues of importance in practical failure detection is addressed. A significant amount of intuition concerning the geometry of robust failure detection is provided.

Chow, E. Y.↗

NASA NTRS1984

Detection of abrupt changes in dynamic systems

Some of the basic ideas associated with the detection of abrupt changes in dynamic systems are presented. Multiple filter-based techniques and residual-based method and the multiple model and generalized likelihood ratio methods are considered. Issues such as the effect of unknown onset time on algorithm complexity and structure and robustness to model uncertainty are discussed.

Willsky, A. S.↗

NASA NTRS1984

A design methodology for robust failure detection and isolation

A decentralized failure detection and isolation (FDI) methodology, which is robust with respect to model uncertainties and noise, is presented Redundancy metrics are developed, and optimization problems are posed for the choices of robust parity relations. Closed-form solutions for some special failure cases are given. Connections are drawn with other disciplines, and the use of the metrics to evaluate alternative FDI schemes is discussed.

Pattipati, K. R.↗

NASA NTRS1985

Robust detection-isolation-accommodation for sensor failures

The results of a one year study to: (1) develop a theory for Robust Failure Detection and Identification (FDI) in the presence of model uncertainty, (2) develop a design methodology which utilizes the robust FDI ththeory, (3) apply the methodology to a sensor FDI problem for the F-100 jet engine, and (4) demonstrate the application of the theory to the evaluation of alternative FDI schemes are presented. Theoretical results in statistical discrimination are used to evaluate the robustness of residual signals (or parity relations) in terms of their usefulness for FDI. Furthermore, optimally robust parity relations are derived through the optimization of robustness metrics. The result is viewed as decentralization of the FDI process. A general structure for decentralized FDI is proposed and robustness metrics are used for determining various parameters of the algorithm.

Weiss, J. L.↗

NASA NTRS1986

Application of the LQG/LTR technique to robust controller synthesis for a large flexible space antenna

The problem of synthesizing a robust controller is considered for a large, flexible space-based antenna by using the linear-quadratic-Gaussian (LQG)/loop transfer recovery (LTR) method. The study is based on a finite-element model of the 122-m hoop/column antenna, which consists of three rigid-body rotational modes and the first 10 elastic modes. A robust compensator design for achieving the required performance bandwidth in the presence of modeling uncertainties is obtained using the LQG/LTR method for loop-shaping in the frequency domain. Different sensor actuator locations are analyzed in terms of the pole/zero locations of the multivariable systems and possible best locations are indicated. The computations are performed by using the LQG design package ORACLS augmented with frequency domain singular value analysis software.

Joshi, S. M.↗

NASA NTRS1986

Optimally robust redundancy relations for failure detection in uncertain systems

All failure detection methods are based, either explicitly or implicitly, on the use of redundancy, i.e. on (possibly dynamic) relations among the measured variables. The robustness of the failure detection process consequently depends to a great degree on the reliability of the redundancy relations, which in turn is affected by the inevitable presence of model uncertainties. In this paper the problem of determining redundancy relations that are optimally robust is addressed in a sense that includes several major issues of importance in practical failure detection and that provides a significant amount of intuition concerning the geometry of robust failure detection. A procedure is given involving the construction of a single matrix and its singular value decomposition for the determination of a complete sequence of redundancy relations, ordered in terms of their level of robustness. This procedure also provides the basis for comparing levels of robustness in redundancy provided by different sets of sensors.

Lou, X.-C.↗

NASA NTRS1987

Control and Simulation of Space-Station Vibrations

Adaptive control system reduces effects of model uncertainties. Report outlines method for finite-element dynamic analysis of space station. Purpose is to determine periods and modes of oscillation of structure and to analyze effect of proposed adaptive control system to damp out unwanted vibrations. With simplifications proposed, finite-element simulations performed during dynamic event, like docking of Space Shuttle, and used to control vibration-damping actuators.

Ih, Che-Hang Charles↗

NASA NTRS1986

A theory for the retrieval of virtual temperature from winds, radiances and the equations of fluid dynamics

A technique to deduce the virtual temperature from the combined use of the equations of fluid dynamics, observed wind and observed radiances is described. The wind information could come from ground-based sensitivity very high frequency (VHF) Doppler radars and/or from space-borne Doppler lidars. The radiometers are also assumed to be either space-borne and/or ground-based. From traditional radiometric techniques the vertical structure of the temperature can be estimated only crudely. While it has been known for quite some time that the virtual temperature could be deduced from wind information only, such techniques had to assume the infallibility of certain diagnostic relations. The proposed technique is an extension of the Gal-Chen technique. It is assumed that due to modeling uncertainties the equations of fluid dynamics are satisfied only in the least square sense. The retrieved temperature, however, is constrained to reproduce the observed radiances. It is shown that the combined use of the three sources of information (wind, radiances and fluid dynamical equations) can result in a unique determination of the vertical temperature structure with spatial and temporal resolution comparable to that of the observed wind.

Tzvi, G. C.↗

NASA NTRS1986

Design and evaluation of a failure detection and isolation algorithm for restructurable control systems

The use of a decentralized approach to failure detection and isolation for use in restructurable control systems is examined. This work has produced: (1) A method for evaluating fundamental limits to FDI performance; (2) Application using flight recorded data; (3) A working control element FDI system with maximal sensitivity to critical control element failures; (4) Extensive testing on realistic simulations; and (5) A detailed design methodology involving parameter optimization (with respect to model uncertainties) and sensitivity analyses. This project has concentrated on detection and isolation of generic control element failures since these failures frequently lead to emergency conditions and since knowledge of remaining control authority is essential for control system redesign. The failures are generic in the sense that no temporal failure signature information was assumed. Thus, various forms of functional failures are treated in a unified fashion. Such a treatment results in a robust FDI system (i.e., one that covers all failure modes) but sacrifices some performance when detailed failure signature information is known, useful, and employed properly. It was assumed throughout that all sensors are validated (i.e., contain only in-spec errors) and that only the first failure of a single control element needs to be detected and isolated. The FDI system which has been developed will handle a class of multiple failures.

Weiss, Jerold L.↗

NASA NTRS1987

Robust control for large space antennas

A brief description of program objectives and the space based radar application is given. General characteristics of the 100 m diameter reflector spacecraft are described along with the intended mission and associated requirements, and dynamic characteristics relevant to that mission. Preliminary control analyses are carried out for the critical rapid slew and settle maneuver to establish feedback control requirements and fundamental limitations in meeting those requirements with control hardware for a baseline reaction control system (RCS) jet placement assumed for the open loop bang-bang slew limitations. Control moment gyros (CMGs), angular position sensors, and linear translation sensors are placed for feedback control. Control laws are designed for the improved sensor and actuator placement and evaluated for performance and robustness to unstructured model uncertainty. The robustness of the control design is assessed with respect to modal parameter uncertainty. Results of the control designs analyses are summarized, conclusions are drawn, and recommendations made for future studies.

Barrett, M. F.↗

NASA NTRS1986

Kinetics of OH + CO reaction under atmospheric conditions

A pulsed laser photolysis-pulsed laser-induced fluorescence technique is used to directly measure the temperature, pressure, and H2O concentration dependence on k1 in air. K1 is found to increase linearly with increasing pressure at pressures of not greater than 1 atm, and the pressure dependence of k1 at 299 K is the same in N2 buffer gas as in O2 buffer gas. The rate constant in the low-pressure limit and the slope of the k1 versus pressure dependence are shown to be the same at 262 K as at 299 K. The present results significantly reduce the current atmospheric model uncertainties in the temperature dependence under atmospheric conditions, in the third body efficiency of O2, and in the effect of water vapor on k1.

Hynes, A. J.↗

NASA NTRS1988

A study of C3HD in cold interstellar clouds

The 1(10)-1(01) transition of C3HD was detected at 19.418 GHz at twelve positions in cold, dark clouds, and the D hyperfine components were resolved in two sources (L1498 and TMC-1C) well enough to derive values for the D quadrupole coupling constants. Simultaneous observations of C3H2 in each source yield relative integrated line intensities in the range 0.10-0.18, from which relative C3HD/C3H2 abundances in the range 0.05-0.15 were derived. These are among the highest deuteration ratios yet observed. Within the limits of the observational and modeling uncertainties, it is possible to explain the derived C3HD/C3H2 ratios by ion-molecule chemistry if e is equal to about 3 x 10 to the -7th.

Bell, M. B.↗

NASA NTRS1988

Implications of the GSFC Q3 model for trapped particle motion

The Uranus magnetic field model of Connerney et al. (1987), designated GSFC Q3, is used to compute field geometric invariant parameters that determine the adiabatic motion of energetic charged particles trapped in the Uranian magnetosphere, performing computations only for points located along the Voyager 2 flyby trajectory. The L-shell values computed along the Voyager-2 trajectory were compared with L shell values corresponding to the orbital positions for the Uranian satellites Ariel, Umbriel, Miranda, and Titania for a time period centered on the time of the Voyager 2 closest approach to the planet. Bimodal distributions of L minima asociated with the orbital motion of the moons are obtained, thus complicating the model predictions and correlations with charged particle data. The location of charged particle absorption signatures associated with the sweeping effects of the Uranian satellites is reasonably predicted, but significant discrepancies remain which cannot be explained by Q3 model uncertainties.

Acuna, M. H.↗

NASA NTRS1988

Adaptive guidance for an aero-assisted boost vehicle

An adaptive guidance system incorporating dynamic pressure constraint is studied for a single stage to low earth orbit (LEO) aero-assist booster with thrust gimbal angle as the control variable. To derive an adaptive guidance law, cubic spline functions are used to represent the ascent profile. The booster flight to LEO is divided into initial and terminal phases. In the initial phase, the ascent profile is continuously updated to maximize the performance of the boost vehicle enroute. A linear feedback control is used in the terminal phase to guide the aero-assisted booster onto the desired LEO. The computer simulation of the vehicle dynamics considers a rotating spherical earth, inverse square (Newtonian) gravity field and an exponential model for the earth's atmospheric density. This adaptive guidance algorithm is capable of handling large deviations in both atmospheric conditions and modeling uncertainties, while ensuring maximum booster performance.

Pamadi, Bandu N.↗

NASA NTRS1988

Robot trajectory tracking with self-tuning predicted control

A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

Cui, Xianzhong↗